Computational Aspects of Optimization-Based Path Following of an Unmanned Helicopter

摘要: This paper considers the path following of unmanned helicopters based on dynamic optimization. We assume that helicopter is equipped with a flight control system provides an approximation its closed-loop dynamics. The task at hand to compute inputs for this in order track geometrically specified path. A concise problem formulation and discussion efficient implementation are presented. achieves computation times below duration by exploiting differential flatness properties parts Finally, we present quantitative results respect convergence required iterations challenging nonlinear show proposed optimization approach capable tackling practicable manner.